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Fuzzy Depth Control of Small Cylindrical Object Navigating Near Free-surface

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Small cylindrical object navigating near free-surface is subject to wave disturbance. Wave disturbance can dramatically influence the depth control of the near-surface navigating object. In order to diminish the wave disturbance, a self-regulating fuzzy depth control method based on the adaptive fuzzy control theory is proposed to keep the small cylindrical object navigate at the expected depth under free-surface. The near-surface dynamic model of the cylindrical object is introduced with the first and second order wave forces, and the fuzzy depth control model is presented. Hardware-in-loop simulation is designed to testify the validity of the control method. The results obtained by a series of hardware-in-loop simulations demonstrate that the self-tuning fuzzy depth control method performs well in stabilizing the near-surface navigating small cylindrical object and in keeping it in the expected depth under free-surface disturbances.


Document Type: Research Article

DOI: http://dx.doi.org/10.1166/asl.2012.2292

Publication date: March 1, 2012

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  • ADVANCED SCIENCE LETTERS is an international peer-reviewed journal with a very wide-ranging coverage, consolidates research activities in all areas of (1) Physical Sciences, (2) Biological Sciences, (3) Mathematical Sciences, (4) Engineering, (5) Computer and Information Sciences, and (6) Geosciences to publish original short communications, full research papers and timely brief (mini) reviews with authors photo and biography encompassing the basic and applied research and current developments in educational aspects of these scientific areas.
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